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add options to toggle between whether line search is used & add more documentation

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This commit is contained in:
Xuchen Han
2019-09-19 16:56:55 -07:00
parent 0501fe1bbd
commit ef5aa6e73b
12 changed files with 47 additions and 95 deletions
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16
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -69,14 +69,14 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
// End solver-wise simulation step
// ///////////////////////////////
}
//
//void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep)
//{
// // perform position correction for all constraints
// // perform position correction for all constraints
// BT_PROFILE("positionCorrection");
// for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index)
// for (int index = 0; index < m_deformableBodySolver->m_objective->m_projection.m_constraints.size(); ++index)
// {
// DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->projection.m_constraints.getAtIndex(index);
// DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->m_projection.m_constraints.getAtIndex(index);
// for (int j = 0; j < constraint.m_contact.size(); ++j)
// {
// const btSoftBody::RContact* c = constraint.m_contact[j];
@@ -144,16 +144,11 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
// }
//}
void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep)
{
}
void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BT_PROFILE("integrateTransforms");
//m_deformableBodySolver->backupVelocity();
//positionCorrection(timeStep);
//positionCorrection(timeStep); // looks like position correction is no longer necessary
btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
for (int i = 0; i < m_softBodies.size(); ++i)
{
@@ -329,6 +324,7 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
{
m_internalTime += timeStep;
m_deformableBodySolver->setImplicit(m_implicit);
m_deformableBodySolver->setLineSearch(m_lineSearch);
m_deformableBodySolver->reinitialize(m_softBodies, timeStep);
btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;